root / branches / simulator / projects / simulator / simulator / gui / gtk_environment_view.c @ 1047
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#include <math.h> |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <sys/time.h> |
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#include <string.h> |
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|
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#include <gtk/gtkmain.h> |
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#include <gtk/gtksignal.h> |
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|
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#include "gtk_environment_view.h" |
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|
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#include "robot.h" |
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#include "world.h" |
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|
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#define ENVIRONMENT_VIEW_MIN_WIDTH 100 |
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#define ENVIRONMENT_VIEW_MIN_HEIGHT 50 |
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|
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#define ENVIRONMENT_PI 3.14159 |
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#define ENVIRONMENT_ROBOT_DIAMETER 50 |
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static GtkWidgetClass* parent_class = NULL; |
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|
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static void gtk_environment_view_class_init(GtkEnvironmentViewClass* environmentClass); |
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static void gtk_environment_view_init(GtkEnvironmentView* view); |
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static void gtk_environment_view_destroy(GtkObject* object); |
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|
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static void gtk_environment_view_size_request(GtkWidget* widget, |
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GtkRequisition* req); |
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static void gtk_environment_view_realize(GtkWidget* widget); |
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static void gtk_environment_view_size_allocate(GtkWidget* widget, GtkAllocation* a); |
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static gboolean gtk_environment_view_expose(GtkWidget* widget,
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GdkEventExpose* event); |
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|
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static gboolean gtk_environment_view_mouse_down(GtkWidget* widget,
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GdkEventButton* event); |
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static gboolean gtk_environment_view_mouse_release(GtkWidget* widget,
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GdkEventButton* event); |
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static gboolean gtk_environment_view_mouse_move(GtkWidget* widget,
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GdkEventMotion* event); |
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|
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static void draw_world(GdkDrawable* drawable, GdkGC* gc, world_t* world); |
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static void draw_robot(GdkDrawable* drawable, GdkGC* gc, |
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float x, float y, float angle); |
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|
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GtkType gtk_environment_view_get_type(void)
|
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{ |
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static GtkType environment_view_type = 0; |
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if (!environment_view_type)
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{ |
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static const GtkTypeInfo environment_view_info = |
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{ |
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"GtkEnvironmentView",
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sizeof(GtkEnvironmentView),
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sizeof(GtkEnvironmentViewClass),
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(GtkClassInitFunc)gtk_environment_view_class_init, |
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(GtkObjectInitFunc)gtk_environment_view_init, |
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NULL, NULL, (GtkClassInitFunc)NULL |
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}; |
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environment_view_type = gtk_type_unique(GTK_TYPE_WIDGET, |
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&environment_view_info); |
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} |
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return environment_view_type;
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} |
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static void gtk_environment_view_class_init(GtkEnvironmentViewClass* environmentClass) |
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{ |
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GtkObjectClass* object_class; |
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GtkWidgetClass* widget_class; |
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object_class = (GtkObjectClass*)environmentClass; |
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widget_class = (GtkWidgetClass*)environmentClass; |
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parent_class = gtk_type_class(gtk_widget_get_type()); |
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object_class->destroy = gtk_environment_view_destroy; |
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widget_class->realize = gtk_environment_view_realize; |
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widget_class->expose_event = gtk_environment_view_expose; |
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widget_class->size_request = gtk_environment_view_size_request; |
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widget_class->size_allocate = gtk_environment_view_size_allocate; |
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widget_class->button_press_event = gtk_environment_view_mouse_down; |
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widget_class->button_release_event = gtk_environment_view_mouse_release; |
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widget_class->motion_notify_event = gtk_environment_view_mouse_move; |
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} |
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GtkWidget* gtk_environment_view_new(void)
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{ |
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GtkEnvironmentView* view; |
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view = gtk_type_new(gtk_environment_view_get_type()); |
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return GTK_WIDGET(view);
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} |
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static void gtk_environment_view_init(GtkEnvironmentView* view) |
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{ |
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view->topLeftX = -2.0; |
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view->topLeftY = -1.3; |
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view->scale = 2.0 / 800.0; |
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view->width = -1;
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view->height = -1;
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GTK_WIDGET_SET_FLAGS(&(view->widget), GTK_DOUBLE_BUFFERED); |
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view->mouseDown = 0;
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} |
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static void gtk_environment_view_destroy(GtkObject* object) |
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{ |
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GtkEnvironmentView* view; |
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g_return_if_fail(object != NULL);
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g_return_if_fail(GTK_IS_ENVIRONMENT_VIEW(object)); |
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view = GTK_ENVIRONMENT_VIEW(object); |
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if (GTK_OBJECT_CLASS(parent_class)->destroy)
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(* GTK_OBJECT_CLASS(parent_class)->destroy) (object); |
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} |
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|
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static void gtk_environment_view_realize(GtkWidget* widget) |
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{ |
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GtkEnvironmentView* view; |
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GdkWindowAttr attributes; |
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gint attributes_mask; |
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g_return_if_fail( widget != NULL);
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g_return_if_fail( GTK_IS_ENVIRONMENT_VIEW(widget)); |
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GTK_WIDGET_SET_FLAGS(widget, GTK_REALIZED); |
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view = GTK_ENVIRONMENT_VIEW(widget); |
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attributes.x = widget->allocation.x; |
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attributes.y = widget->allocation.y; |
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attributes.width = widget->allocation.width; |
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attributes.height = widget->allocation.height; |
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attributes.wclass = GDK_INPUT_OUTPUT; |
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attributes.window_type = GDK_WINDOW_CHILD; |
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attributes.event_mask = gtk_widget_get_events(widget) | |
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GDK_EXPOSURE_MASK | GDK_BUTTON_PRESS_MASK | |
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GDK_BUTTON_RELEASE_MASK | GDK_POINTER_MOTION_MASK | |
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GDK_POINTER_MOTION_HINT_MASK; |
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attributes.visual = gtk_widget_get_visual(widget); |
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attributes.colormap = gtk_widget_get_colormap(widget); |
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attributes_mask = GDK_WA_X | GDK_WA_Y | GDK_WA_VISUAL | GDK_WA_COLORMAP; |
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widget->window = gdk_window_new(widget->parent->window, &attributes, |
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attributes_mask); |
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gdk_window_set_user_data(widget->window, widget); |
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widget->style = gtk_style_attach(widget->style, widget->window); |
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gtk_style_set_background(widget->style, widget->window, |
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GTK_STATE_NORMAL); |
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} |
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|
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static void gtk_environment_view_size_request(GtkWidget* widget, |
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GtkRequisition* req) |
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{ |
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if (req->width < ENVIRONMENT_VIEW_MIN_WIDTH)
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req->width = ENVIRONMENT_VIEW_MIN_WIDTH; |
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if (req->height < ENVIRONMENT_VIEW_MIN_HEIGHT)
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req->height = ENVIRONMENT_VIEW_MIN_HEIGHT; |
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} |
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static void gtk_environment_view_size_allocate(GtkWidget* widget, GtkAllocation* a) |
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{ |
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GtkEnvironmentView* view; |
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g_return_if_fail(widget != NULL);
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g_return_if_fail(GTK_IS_ENVIRONMENT_VIEW(widget)); |
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g_return_if_fail(a != NULL);
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view = GTK_ENVIRONMENT_VIEW(widget); |
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widget->allocation = *a; |
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view->width = a->width; |
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view->height = a->height; |
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if (GTK_WIDGET_REALIZED(widget))
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{ |
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gdk_window_move_resize(widget->window, a->x, a->y, a->width, a->height); |
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} |
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} |
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static gboolean gtk_environment_view_expose(GtkWidget* widget,
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GdkEventExpose* event) |
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{ |
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GtkEnvironmentView* view; |
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if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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return FALSE;
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if (event->count > 0) |
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return FALSE;
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view = GTK_ENVIRONMENT_VIEW(widget); |
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draw_world(widget->window, widget->style->fg_gc[GTK_WIDGET_STATE(widget)], &world); |
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robot_iterator_reset(); |
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Robot* r; |
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while ((r = robot_iterator_next()) != NULL) { |
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draw_robot(widget->window, |
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widget->style->fg_gc[GTK_WIDGET_STATE(widget)], |
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r->pose.x, r->pose.y, r->pose.theta); |
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} |
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return FALSE;
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} |
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static gboolean gtk_environment_view_mouse_down(GtkWidget* widget,
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GdkEventButton* event) |
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{ |
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GtkEnvironmentView* view; |
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if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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return FALSE;
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view = GTK_ENVIRONMENT_VIEW(widget); |
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if (event->button != 1) |
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return FALSE;
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view->mouseDownX = event->x; |
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view->mouseDownY = event->y; |
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view->mouseX = event->x; |
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view->mouseY = event->y; |
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view->mouseDown = 1;
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return FALSE;
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} |
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static gboolean gtk_environment_view_mouse_release(GtkWidget* widget,
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GdkEventButton* event) |
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{ |
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GtkEnvironmentView* view; |
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double x1, x2, y1, y2;
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int w, h;
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if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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return FALSE;
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view = GTK_ENVIRONMENT_VIEW(widget); |
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if (event->button != 1 && event->button != 3) |
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return FALSE;
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if (event->button == 1) |
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view->mouseDown = 0;
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view->mouseX = event->x; |
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view->mouseY = event->y; |
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w = abs(view->mouseX - view->mouseDownX); |
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h = abs(view->mouseY - view->mouseDownY); |
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// if the box is big, zoom to the box
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if (event->button == 1 && (w >= 10 || h >= 10)) |
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{ |
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// we need to make sure the box is to scale
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// scale to height
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if (fabs((double)w / h) <= fabs((double)view->width / view->height)) |
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{ |
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w = (int)((double)view->width / view->height * h); |
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if (view->mouseX < view->mouseDownX)
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view->mouseX = view->mouseDownX - w; |
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else
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view->mouseX = view->mouseDownX + w; |
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} |
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// scale to width
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else
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{ |
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h = (int)((double)view->height / view->width * w); |
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if (view->mouseY < view->mouseDownY)
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view->mouseY = view->mouseDownY - h; |
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else
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view->mouseY = view->mouseDownY + h; |
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} |
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x1 = view->mouseX * view->scale + view->topLeftX; |
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y1 = view->mouseY * view->scale + view->topLeftY; |
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x2 = view->mouseDownX * view->scale + view->topLeftX; |
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y2 = view->mouseDownY * view->scale + view->topLeftY; |
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if (x2 < x1)
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x1 = x2; |
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if (y2 < y1)
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y1 = y2; |
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view->scale = (w * view->scale) / view->width; |
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view->topLeftX = x1; |
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view->topLeftY = y1; |
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} |
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else
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{ |
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x1 = view->mouseX * view->scale + view->topLeftX; |
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y1 = view->mouseY * view->scale + view->topLeftY; |
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// zoom in on left click, out on right click
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if (event->button == 1) |
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view->scale /= 2.0; |
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else
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view->scale *= 2.0; |
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view->topLeftX = x1 - view->width / 2 * view->scale;
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view->topLeftY = y1 - view->height / 2 * view->scale;
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} |
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return FALSE;
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} |
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static gboolean gtk_environment_view_mouse_move(GtkWidget* widget,
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GdkEventMotion* event) |
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{ |
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GtkEnvironmentView* view; |
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if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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return FALSE;
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view = GTK_ENVIRONMENT_VIEW(widget); |
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view->mouseX = event->x; |
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view->mouseY = event->y; |
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if (!view->mouseDown)
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return FALSE;
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// we need to make sure the new view is to scale
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int w = abs(view->mouseX - view->mouseDownX);
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int h = abs(view->mouseY - view->mouseDownY);
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// scale to height
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if (fabs((double)w / h) <= fabs((double)view->width / view->height)) |
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{ |
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w = (int)((double)view->width / view->height * h); |
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if (view->mouseX < view->mouseDownX)
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view->mouseX = view->mouseDownX - w; |
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else
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view->mouseX = view->mouseDownX + w; |
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} |
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// scale to width
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else
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{ |
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h = (int)((double)view->height / view->width * w); |
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if (view->mouseY < view->mouseDownY)
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view->mouseY = view->mouseDownY - h; |
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else
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view->mouseY = view->mouseDownY + h; |
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} |
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gtk_widget_queue_draw_area(widget, 0, 0, view->width, view->height); |
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return FALSE;
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} |
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void gtk_environment_view_refresh(GtkWidget* view)
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{ |
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gdk_threads_enter(); |
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gtk_widget_queue_draw(view); |
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gdk_threads_leave(); |
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} |
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static void draw_world(GdkDrawable* drawable, GdkGC* gc, world_t* world) |
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{ |
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int i, j;
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GdkPoint* points; |
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poly_t* p; |
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if (!drawable || !gc || !world)
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return;
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double leftx = world->win.p1.x;
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double upy = world->win.p1.x;
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double xwidth = world->win.p2.x - leftx;
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double yheight = world->win.p2.y - upy;
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int width, height;
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gdk_drawable_get_size(drawable, &width, &height); |
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if (xwidth / width < yheight / height)
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width = (int)(height / yheight * xwidth);
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else
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height = (int)(width / xwidth * yheight);
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for (i = 0 ; i < world->max_objs; i++) |
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{ |
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object_t* o = &(world->objs[i]); |
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switch (o->id)
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{ |
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case ID_POLY:
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p = (poly_t*)o->props; |
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points = (GdkPoint*)malloc(sizeof(GdkPoint) * p->num_pts);
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for (j = 0; j < p->num_pts; j++) |
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{ |
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points[j].x = (int)((p->pts[j].x - leftx) / xwidth * width);
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points[j].y = (int)((p->pts[j].y - upy) / yheight * height);
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} |
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switch(p->type)
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{ |
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case POLY_CONNECTED:
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gdk_draw_polygon(drawable, gc, 1, points, p->num_pts);
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break;
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default:
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fprintf(stderr, "Detected unexpected type of polygon.\n");
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break;
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} |
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free(points); |
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break;
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// no object
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case ID_NULL:
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break;
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default:
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fprintf(stderr, "Unexpected object type %d in world.\n", o->id);
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break;
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} |
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} |
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} |
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|
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static void draw_robot(GdkDrawable* drawable, GdkGC* gc, |
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float x, float y, float angle) |
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{ |
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if (!drawable || !gc)
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return;
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int x_c = (int)x - ENVIRONMENT_ROBOT_DIAMETER / 2; |
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int y_c = (int)y - ENVIRONMENT_ROBOT_DIAMETER / 2; |
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|
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gdk_draw_arc(drawable, gc, FALSE, x_c, y_c, |
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ENVIRONMENT_ROBOT_DIAMETER, ENVIRONMENT_ROBOT_DIAMETER, |
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0, 360*64); |
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|
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gdk_draw_line(drawable, gc, x, y, |
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x + (ENVIRONMENT_ROBOT_DIAMETER - 10) * cos(-angle),
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y - (ENVIRONMENT_ROBOT_DIAMETER - 10) * sin(-angle));
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} |
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